EP0323279A3 - Système de traitement d'images pour un suiveur optique de joint de soudage - Google Patents
Système de traitement d'images pour un suiveur optique de joint de soudage Download PDFInfo
- Publication number
- EP0323279A3 EP0323279A3 EP88312462A EP88312462A EP0323279A3 EP 0323279 A3 EP0323279 A3 EP 0323279A3 EP 88312462 A EP88312462 A EP 88312462A EP 88312462 A EP88312462 A EP 88312462A EP 0323279 A3 EP0323279 A3 EP 0323279A3
- Authority
- EP
- European Patent Office
- Prior art keywords
- processing system
- image processing
- signal
- tool
- seam
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 230000003287 optical effect Effects 0.000 title 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q35/00—Control systems or devices for copying directly from a pattern or a master model; Devices for use in copying manually
- B23Q35/04—Control systems or devices for copying directly from a pattern or a master model; Devices for use in copying manually using a feeler or the like travelling along the outline of the pattern, model or drawing; Feelers, patterns, or models therefor
- B23Q35/08—Means for transforming movement of the feeler or the like into feed movement of tool or work
- B23Q35/12—Means for transforming movement of the feeler or the like into feed movement of tool or work involving electrical means
- B23Q35/127—Means for transforming movement of the feeler or the like into feed movement of tool or work involving electrical means using non-mechanical sensing
- B23Q35/128—Sensing by using optical means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36417—Programmed coarse position, fine position by alignment, follow line, path adaptive
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45104—Lasrobot, welding robot
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/47—Tracing, tracking
- G05B2219/4701—Edge detector, project line, inclined camera detects discontinuity
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Geometry (AREA)
- Optics & Photonics (AREA)
- General Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Robotics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Image Processing (AREA)
- Manipulator (AREA)
- Image Analysis (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US140858 | 1987-12-31 | ||
US07/140,858 US4849679A (en) | 1987-12-31 | 1987-12-31 | Image processing system for an optical seam tracker |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0323279A2 EP0323279A2 (fr) | 1989-07-05 |
EP0323279A3 true EP0323279A3 (fr) | 1990-08-22 |
Family
ID=22493117
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP88312462A Withdrawn EP0323279A3 (fr) | 1987-12-31 | 1988-12-30 | Système de traitement d'images pour un suiveur optique de joint de soudage |
Country Status (3)
Country | Link |
---|---|
US (1) | US4849679A (fr) |
EP (1) | EP0323279A3 (fr) |
JP (1) | JP3004279B2 (fr) |
Families Citing this family (34)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4965499A (en) * | 1987-12-31 | 1990-10-23 | Westinghouse Electric Corp | Parametric path modeling for an optical automatic seam tracker and real time robotic control system |
US4954962A (en) * | 1988-09-06 | 1990-09-04 | Transitions Research Corporation | Visual navigation and obstacle avoidance structured light system |
US5040116A (en) * | 1988-09-06 | 1991-08-13 | Transitions Research Corporation | Visual navigation and obstacle avoidance structured light system |
US5396160A (en) * | 1991-03-11 | 1995-03-07 | General Motors Corporation | Method of real-time machine path planning from a math model |
GB9209594D0 (en) * | 1992-05-02 | 1992-06-17 | British United Shoe Machinery | Apparatus for digitising a surface portion of a three-dimensional article |
FR2701415B1 (fr) * | 1993-02-12 | 1995-05-19 | Technigaz Ste Nouvelle | Machine automatique de soudage "in situ" suivant un profil à tronçon curviligne, et avec commande programmable d'extrapolation. |
JP3237975B2 (ja) * | 1993-09-20 | 2001-12-10 | 富士通株式会社 | 画像処理装置 |
US5572102A (en) * | 1995-02-28 | 1996-11-05 | Budd Canada Inc. | Method and apparatus for vision control of welding robots |
JPH08321984A (ja) * | 1995-03-22 | 1996-12-03 | Sony Corp | 自動追尾撮像装置 |
US5970471A (en) * | 1996-03-22 | 1999-10-19 | Charles E. Hill & Associates, Inc. | Virtual catalog and product presentation method and apparatus |
US6018593A (en) * | 1996-09-11 | 2000-01-25 | Ricoh Company, Ltd. | Method and system for correcting image position based upon predetermined pattern portions |
KR100200639B1 (ko) * | 1996-11-13 | 1999-06-15 | 윤종용 | 자동 용접장치의 용접토오치 경로 보정방법 |
US5889251A (en) * | 1997-04-11 | 1999-03-30 | Framatome Technologies, Inc. | Apparatus for narrow groove welding |
US6421458B2 (en) * | 1998-08-28 | 2002-07-16 | Cognex Corporation | Automated inspection of objects undergoing general affine transformation |
US6430472B1 (en) * | 1999-12-20 | 2002-08-06 | Servo-Robot Inc. | Robot feature tracking devices and methods |
JP4531396B2 (ja) * | 2001-11-15 | 2010-08-25 | プレシテック ヴィジョン ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディートゲゼルシャフト | ワークの接合箇所を評価するための方法および装置 |
KR20030049325A (ko) * | 2001-12-14 | 2003-06-25 | 삼성전자주식회사 | 아크용접장치와 그 제어방법 |
JP4678116B2 (ja) * | 2002-08-22 | 2011-04-27 | 株式会社Ihi | 溶接制御装置及び方法 |
DE10361018C9 (de) | 2003-12-23 | 2021-03-04 | QUISS Qualitäts-Inspektionssysteme und Service GmbH | Verfahren zum Erkennen einer auf einem Substrat aufzubringenden Struktur mit mehreren Kameras sowie eine Vorrichtung hierfür |
US7620260B2 (en) * | 2005-11-10 | 2009-11-17 | Samsung Electronics Co., Ltd. | Line thinning method and system for grayscale image |
JP4751866B2 (ja) * | 2006-09-13 | 2011-08-17 | エーエスエムエル マスクツールズ ビー.ブイ. | ターゲットパターンを複数のパターンに分解するための方法、そのコンピュータプログラムを記憶するコンピュータ読取可能記憶媒体、デバイス製造方法、およびマスクを生成するための方法 |
CN102059435B (zh) * | 2010-12-14 | 2012-09-19 | 东南大学 | 带有线结构光型视觉传感器的纵缝焊接专机及其控制方法 |
AT511177B1 (de) * | 2011-03-10 | 2015-12-15 | Fronius Int Gmbh | Verfahren und vorrichtung zur überwachung eines lichtbogenprozesses |
CN102179598B (zh) * | 2011-03-31 | 2013-05-01 | 中国科学院自动化研究所 | 平板窄焊缝初始焊位对中和焊缝跟踪方法及装置 |
DE102011108939A1 (de) * | 2011-07-29 | 2013-01-31 | Multivac Sepp Haggenmüller Gmbh & Co. Kg | Verfahren zum Schneiden von Packungen |
US8605294B2 (en) * | 2012-03-09 | 2013-12-10 | Chung-Shan Institute of Science and Technology, Armaments, Bureau, Ministry of National Defense | Actuating apparatus, actuating system and method for actuating a working stage to move relative to a platform with high-precision positioning capability |
GB2506914A (en) * | 2012-10-12 | 2014-04-16 | Meta Vision Systems Ltd | Methods and systems for weld control |
JP5965859B2 (ja) * | 2013-03-28 | 2016-08-10 | 株式会社神戸製鋼所 | 溶接線情報設定装置、プログラム、自動教示システム、および溶接線情報設定方法 |
DE102015115803A1 (de) * | 2015-09-18 | 2017-03-23 | Precitec Gmbh & Co. Kg | Verfahren zum Führen eines Bearbeitungskopfes entlang einer zu bearbeitenden Spur |
CN105458462B (zh) * | 2015-12-22 | 2017-08-29 | 河北工业大学 | 一种变间隙梯形焊缝多参数同步视觉检测跟踪方法 |
CN112037190A (zh) * | 2020-08-28 | 2020-12-04 | 孔令豹 | 一种用于电器制冷剂管道的智能焊点检漏系统及检漏方法 |
CN112847353B (zh) * | 2020-12-31 | 2022-04-22 | 华南理工大学 | 一种基于离线编程软件的多段焊缝轨迹修正方法 |
CN113450407B (zh) * | 2021-05-14 | 2023-10-13 | 东莞市李群自动化技术有限公司 | 定位方法及作业方法、电子设备、轨道设备和存储介质 |
CN117300301B (zh) * | 2023-11-30 | 2024-02-13 | 太原科技大学 | 一种基于单目线激光的焊接机器人焊缝跟踪系统与方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0108599A1 (fr) * | 1982-11-01 | 1984-05-16 | National Research Development Corporation | Soudage automatique |
GB2156623A (en) * | 1984-02-10 | 1985-10-09 | Dainippon Screen Mfg | Processing sharpness signals in image reproduction |
US4683493A (en) * | 1986-06-20 | 1987-07-28 | Westinghouse Electric Corp. | Compact optical apparatus for tracking a path of movement of a tool along a line of travel on a workpiece |
Family Cites Families (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5214112B2 (fr) * | 1973-02-22 | 1977-04-19 | ||
JPS5923467B2 (ja) * | 1979-04-16 | 1984-06-02 | 株式会社日立製作所 | 位置検出方法 |
US4259694A (en) * | 1979-08-24 | 1981-03-31 | Xerox Corporation | Electronic rescreen technique for halftone pictures |
JPS5725771A (en) * | 1980-07-23 | 1982-02-10 | Canon Inc | Picture signal processor |
JPS57142072A (en) * | 1981-02-27 | 1982-09-02 | Canon Inc | Video signal processor |
US4517607A (en) * | 1981-11-09 | 1985-05-14 | Ricoh Company, Ltd. | Method of and apparatus for compensating image in image reproduction system |
US4517597A (en) * | 1982-09-14 | 1985-05-14 | New York Institute Of Technology | Method and apparatus for encoding and decoding video |
JPS5977769A (ja) * | 1982-10-27 | 1984-05-04 | Canon Inc | 像再生装置 |
ZA838150B (en) * | 1982-11-01 | 1984-06-27 | Nat Res Dev | Automatic welding |
JPS5998283A (ja) * | 1982-11-27 | 1984-06-06 | Hitachi Ltd | パターン切出しおよび認識方法、ならびにそのシステム |
JPH0778825B2 (ja) * | 1983-02-09 | 1995-08-23 | 株式会社日立製作所 | 画像処理プロセツサ |
US4517604A (en) * | 1983-04-04 | 1985-05-14 | International Business Machines Corporation | Method for reducing line width variations in bilevel video images |
US4636612A (en) * | 1983-04-19 | 1987-01-13 | Cyclomatic Industries, Inc. | Optical tracking device |
JPS6038973A (ja) * | 1983-08-11 | 1985-02-28 | Dainippon Screen Mfg Co Ltd | 境界画素の処理方法 |
US4633327A (en) * | 1983-11-10 | 1986-12-30 | Xerox Corporation | Enhancement halftoning |
US4573197A (en) * | 1983-12-13 | 1986-02-25 | Crimmins Thomas R | Method for automatic recognition of two-dimensional shapes |
JPS60140470A (ja) * | 1983-12-28 | 1985-07-25 | Hitachi Ltd | 画像情報処理装置 |
US4623778A (en) * | 1984-04-06 | 1986-11-18 | Cyclomatic Industries, Inc. | Optical tracker control system |
US4602291A (en) * | 1984-05-09 | 1986-07-22 | Xerox Corporation | Pixel non-uniformity correction system |
JPS60247475A (ja) * | 1984-05-23 | 1985-12-07 | Hitachi Ltd | 画像処理による溶接制御方法 |
US4618988A (en) * | 1984-07-25 | 1986-10-21 | Fingermatrix, Inc. | Matcher |
US4596919A (en) * | 1984-08-23 | 1986-06-24 | Sri International | Three-dimensional imaging device |
US4638369A (en) * | 1984-09-04 | 1987-01-20 | Xerox Corporation | Edge extraction technique |
US4618990A (en) * | 1984-11-15 | 1986-10-21 | General Electric Company | Edge enhancement filtering for digital fluorography images |
JPS61230571A (ja) * | 1985-04-05 | 1986-10-14 | Dainippon Screen Mfg Co Ltd | 画像走査装置 |
US4688095A (en) * | 1986-02-07 | 1987-08-18 | Image Technology Incorporated | Programmable image-transformation system |
-
1987
- 1987-12-31 US US07/140,858 patent/US4849679A/en not_active Expired - Fee Related
-
1988
- 1988-12-28 JP JP63332771A patent/JP3004279B2/ja not_active Expired - Lifetime
- 1988-12-30 EP EP88312462A patent/EP0323279A3/fr not_active Withdrawn
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0108599A1 (fr) * | 1982-11-01 | 1984-05-16 | National Research Development Corporation | Soudage automatique |
GB2156623A (en) * | 1984-02-10 | 1985-10-09 | Dainippon Screen Mfg | Processing sharpness signals in image reproduction |
US4683493A (en) * | 1986-06-20 | 1987-07-28 | Westinghouse Electric Corp. | Compact optical apparatus for tracking a path of movement of a tool along a line of travel on a workpiece |
Non-Patent Citations (4)
Title |
---|
COMPUTER DESIGN. vol. 25, no. 11, 01 June 1986, LITTLETON, MASSACHUSETTS, US pages 25 - 30; WILLIAMS TOM: "BOARD-LEVEL IMAGE PROCESSORS ENTER DESKTOP ARENA" * |
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH vol. 4, no. 1, 1985, CAMBRIDGE MA US pages 13 - 26; CLOCKSIN W.F. ET AL.: "AN IMPLEMENTATION OF MODEL-BASED VISUAL FEEDBACK FOR ROBOT ARC WELDING OF THIN SHEET STEEL" * |
PROCEEDINGS OF THE EIGHT TRIENNAL WORLD CONGRESS OF THE INTERNATIONAL FEDERATION OF AUTOMATIC CONTROL, 24-28 AUGUST 1981, KYOTO, JAPAN vol. 4, 1981, OXFORD GB & MATSUI H.: "TRACKING CONTROL SYSTEM FOR ARC WELDING USING IMAGE SENSOR" * |
WELDING JOURNAL. November 1986, MIAMI US pages 33 - 41; AGAPAKIS J.E. ET AL.: "JOINT TRACKING AND ADAPTIVE ROBOTIC WELDING USING VISION SENSING OF THE WELD JOINT GEOMETRY" * |
Also Published As
Publication number | Publication date |
---|---|
EP0323279A2 (fr) | 1989-07-05 |
JP3004279B2 (ja) | 2000-01-31 |
JPH0242586A (ja) | 1990-02-13 |
US4849679A (en) | 1989-07-18 |
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Legal Events
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
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17P | Request for examination filed |
Effective date: 19901228 |
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17Q | First examination report despatched |
Effective date: 19920731 |
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STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
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18D | Application deemed to be withdrawn |
Effective date: 19930211 |